OpenRaiser/Intern-Atlas huggingface dataset:
Estimating Parameters of the Tree Root in Heterogeneous Soil Environments via Mask-Guided Multi-Polarimetric Integration Neural Network
Venue: arXiv cs.CV 2021
Year: 2021

Ground-penetrating radar (GPR) has been used as a non-destructive tool for tree root inspection. Estimating root-related parameters from GPR radargrams greatly facilitates root health monitoring and imaging. However, the task of estimating root-related parameters is challenging as the root reflection is a complex function of multiple root parameters and root orientations. Existing methods can only estimate a single root parameter at a time without considering the influence of other parameters and root orientations, resulting in limited estimation accuracy under different root conditions. In addition, soil heterogeneity introduces clutter in GPR radargrams, making the data processing and interpretation even harder. To address these issues, a novel neural network architecture, called mask-guided multi-polarimetric integration neural network (MMI-Net), is proposed to automatically and simultaneously estimate multiple root-related parameters in heterogeneous soil environments. The MMI-Net includes two sub-networks: a MaskNet that predicts a mask to highlight the root reflection area to eliminate interfering environmental clutter, and a ParaNet that uses the predicted mask as guidance to integrate, extract, and emphasize informative features in multi-polarimetric radargrams for accurate estimation of five key root-related parameters. The parameters include the root depth, diameter, relative permittivity, horizontal and vertical orientation angles. Experimental results demonstrate that the proposed MMI-Net achieves high estimation accuracy in these root-related parameters. This is the first work that takes the combined contributions of root parameters and spatial orientations into account and simultaneously estimates multiple root-related parameters. The data and code implemented in the paper can be found at https://haihan-sun.github.io/GPR.html.
Mind the Gap: Cross-Lingual Information Retrieval with Hierarchical Knowledge Enhancement
Venue: arXiv cs.IR 2021
Year: 2021

Cross-Lingual Information Retrieval (CLIR) aims to rank the documents written in a language different from the user's query. The intrinsic gap between different languages is an essential challenge for CLIR. In this paper, we introduce the multilingual knowledge graph (KG) to the CLIR task due to the sufficient information of entities in multiple languages. It is regarded as a "silver bullet" to simultaneously perform explicit alignment between queries and documents and also broaden the representations of queries. And we propose a model named CLIR with hierarchical knowledge enhancement (HIKE) for our task. The proposed model encodes the textual information in queries, documents and the KG with multilingual BERT, and incorporates the KG information in the query-document matching process with a hierarchical information fusion mechanism. Particularly, HIKE first integrates the entities and their neighborhood in KG into query representations with a knowledge-level fusion, then combines the knowledge from both source and target languages to further mitigate the linguistic gap with a language-level fusion. Finally, experimental results demonstrate that HIKE achieves substantial improvements over state-of-the-art competitors.
Can Reinforcement Learning Find Stackelberg-Nash Equilibria in General-Sum Markov Games with Myopic Followers?
Venue: arXiv cs.LG 2021
Year: 2021

We study multi-player general-sum Markov games with one of the players designated as the leader and the other players regarded as followers. In particular, we focus on the class of games where the followers are myopic, i.e., they aim to maximize their instantaneous rewards. For such a game, our goal is to find a Stackelberg-Nash equilibrium (SNE), which is a policy pair $(π^*, ν^*)$ such that (i) $π^*$ is the optimal policy for the leader when the followers always play their best response, and (ii) $ν^*$ is the best response policy of the followers, which is a Nash equilibrium of the followers' game induced by $π^*$. We develop sample-efficient reinforcement learning (RL) algorithms for solving for an SNE in both online and offline settings. Our algorithms are optimistic and pessimistic variants of least-squares value iteration, and they are readily able to incorporate function approximation tools in the setting of large state spaces. Furthermore, for the case with linear function approximation, we prove that our algorithms achieve sublinear regret and suboptimality under online and offline setups respectively. To the best of our knowledge, we establish the first provably efficient RL algorithms for solving for SNEs in general-sum Markov games with myopic followers.
Image Edge Restoring Filter
Venue: arXiv cs.CV 2021
Year: 2021

In computer vision, image processing and computer graphics, image smoothing filtering is a very basic and important task and to be expected possessing good edge-preserving smoothing property. Here we address the problem that the edge-preserving ability of many popular local smoothing filters needs to be improved. In this paper, we propose the image Edge Restoring Filter (ERF) to restore the blur edge pixels in the output of local smoothing filters to be clear. The proposed filter can been implemented after many local smoothing filter (such as Box filter, Gaussian filter, Bilateral Filter, Guided Filter and so on). The combinations of "original local smoothing filters + ERF" have better edge-preserving smoothing property than the original local smoothing filters. Experiments on image smoothing, image denoising and image enhancement demonstrate the excellent edges restoring ability of the proposed filter and good edgepreserving smoothing property of the combination "original local smoothing filters + ERF". The proposed filter would benefit a great variety of applications given that smoothing filtering is a high frequently used and fundamental operation.
Sparsest Univariate Learning Models Under Lipschitz Constraint
Venue: arXiv cs.LG 2021
Year: 2021

Beside the minimization of the prediction error, two of the most desirable properties of a regression scheme are stability and interpretability. Driven by these principles, we propose continuous-domain formulations for one-dimensional regression problems. In our first approach, we use the Lipschitz constant as a regularizer, which results in an implicit tuning of the overall robustness of the learned mapping. In our second approach, we control the Lipschitz constant explicitly using a user-defined upper-bound and make use of a sparsity-promoting regularizer to favor simpler (and, hence, more interpretable) solutions. The theoretical study of the latter formulation is motivated in part by its equivalence, which we prove, with the training of a Lipschitz-constrained two-layer univariate neural network with rectified linear unit (ReLU) activations and weight decay. By proving representer theorems, we show that both problems admit global minimizers that are continuous and piecewise-linear (CPWL) functions. Moreover, we propose efficient algorithms that find the sparsest solution of each problem: the CPWL mapping with the least number of linear regions. Finally, we illustrate numerically the outcome of our formulations.
FitAct: Error Resilient Deep Neural Networks via Fine-Grained Post-Trainable Activation Functions
Venue: arXiv cs.LG 2021
Year: 2021

Deep neural networks (DNNs) are increasingly being deployed in safety-critical systems such as personal healthcare devices and self-driving cars. In such DNN-based systems, error resilience is a top priority since faults in DNN inference could lead to mispredictions and safety hazards. For latency-critical DNN inference on resource-constrained edge devices, it is nontrivial to apply conventional redundancy-based fault tolerance techniques. In this paper, we propose FitAct, a low-cost approach to enhance the error resilience of DNNs by deploying fine-grained post-trainable activation functions. The main idea is to precisely bound the activation value of each individual neuron via neuron-wise bounded activation functions so that it could prevent fault propagation in the network. To avoid complex DNN model re-training, we propose to decouple the accuracy training and resilience training and develop a lightweight post-training phase to learn these activation functions with precise bound values. Experimental results on widely used DNN models such as AlexNet, VGG16, and ResNet50 demonstrate that FitAct outperforms state-of-the-art studies such as Clip-Act and Ranger in enhancing the DNN error resilience for a wide range of fault rates while adding manageable runtime and memory space overheads.
Polite Emotional Dialogue Acts for Conversational Analysis in Daily Dialog Data
Venue: arXiv cs.CL 2021
Year: 2021

Many socio-linguistic cues are used in the conversational analysis, such as emotion, sentiment, and dialogue acts. One of the fundamental social cues is politeness, which linguistically possesses properties useful in conversational analysis. This short article presents some of the brief findings of polite emotional dialogue acts, where we can correlate the relational bonds between these socio-linguistics cues. We found that the utterances with emotion classes Anger and Disgust are more likely to be impolite while Happiness and Sadness to be polite. Similar phenomenon occurs with dialogue acts, Inform and Commissive contain many polite utterances than Question and Directive. Finally, we will conclude on the future work of these findings.
Survival Analysis of the Compressor Station Based on Hawkes Process with Weibull Base Intensity
Venue: arXiv cs.LG 2021
Year: 2021

In this paper, we use the Hawkes process to model the sequence of failure, i.e., events of compressor station and conduct survival analysis on various failure events of the compressor station. However, until now, nearly all relevant literatures of the Hawkes point processes assume that the base intensity of the conditional intensity function is time-invariant. This assumption is apparently too harsh to be verified. For example, in the practical application, including financial analysis, reliability analysis, survival analysis and social network analysis, the base intensity of the truth conditional intensity function is very likely to be time-varying. The constant base intensity will not reflect the base probability of the failure occurring over time. Thus, in order to solve this problem, in this paper, we propose a new time-varying base intensity, for example, which is from Weibull distribution. First, we introduce the base intensity from the Weibull distribution, and then we propose an effective learning algorithm by maximum likelihood estimator. Experiments on the constant base intensity synthetic data, time-varying base intensity synthetic data, and real-world data show that our method can learn the triggering patterns of the Hawkes processes and the time-varying base intensity simultaneously and robustly. Experiments on the real-world data reveal the Granger causality of different kinds of failures and the base probability of failure varying over time.
HeteroQA: Learning towards Question-and-Answering through Multiple Information Sources via Heterogeneous Graph Modeling
Venue: arXiv cs.CL 2021
Year: 2021

Community Question Answering (CQA) is a well-defined task that can be used in many scenarios, such as E-Commerce and online user community for special interests. In these communities, users can post articles, give comment, raise a question and answer it. These data form the heterogeneous information sources where each information source have their own special structure and context (comments attached to an article or related question with answers). Most of the CQA methods only incorporate articles or Wikipedia to extract knowledge and answer the user's question. However, various types of information sources in the community are not fully explored by these CQA methods and these multiple information sources (MIS) can provide more related knowledge to user's questions. Thus, we propose a question-aware heterogeneous graph transformer to incorporate the MIS in the user community to automatically generate the answer. To evaluate our proposed method, we conduct the experiments on two datasets: $\text{MSM}^{\text{plus}}$ the modified version of benchmark dataset MS-MARCO and the AntQA dataset which is the first large-scale CQA dataset with four types of MIS. Extensive experiments on two datasets show that our model outperforms all the baselines in terms of all the metrics.
Extracting knowledge from features with multilevel abstraction
Venue: arXiv cs.LG 2021
Year: 2021

Knowledge distillation aims at transferring the knowledge from a large teacher model to a small student model with great improvements of the performance of the student model. Therefore, the student network can replace the teacher network to deploy on low-resource devices since the higher performance, lower number of parameters and shorter inference time. Self-knowledge distillation (SKD) attracts a great attention recently that a student model itself is a teacher model distilling knowledge from. To the best of our knowledge, self knowledge distillation can be divided into two main streams: data augmentation and refined knowledge auxiliary. In this paper, we purpose a novel SKD method in a different way from the main stream methods. Our method distills knowledge from multilevel abstraction features. Experiments and ablation studies show its great effectiveness and generalization on various kinds of tasks with various kinds of model structures. Our codes have been released on GitHub.
Personalized Lane Change Decision Algorithm Using Deep Reinforcement Learning Approach
Venue: arXiv cs.RO 2021
Year: 2021

To develop driving automation technologies for human, a human-centered methodology should be adopted for ensured safety and satisfactory user experience. Automated lane change decision in dense highway traffic is challenging, especially when considering the personalized preferences of different drivers. To fulfill human driver centered decision algorithm development, we carry out driver-in-the-loop experiments on a 6-Degree-of-Freedom driving simulator. Based on the analysis of the lane change data by drivers of three specific styles,personalization indicators are selected to describe the driver preferences in lane change decision. Then a deep reinforcement learning (RL) approach is applied to design human-like agents for automated lane change decision, with refined reward and loss functions to capture the driver preferences.The trained RL agents and benchmark agents are tested in a two-lane highway driving scenario, and by comparing the agents with the specific drivers at the same initial states of lane change, the statistics show that the proposed algorithm can guarantee higher consistency of lane change decision preferences. The driver personalization indicators and the proposed RL-based lane change decision algorithm are promising to contribute in automated lane change system developing.
M2DGR: A Multi-sensor and Multi-scenario SLAM Dataset for Ground Robots
Venue: arXiv cs.RO 2021
Year: 2021

We introduce M2DGR: a novel large-scale dataset collected by a ground robot with a full sensor-suite including six fish-eye and one sky-pointing RGB cameras, an infrared camera, an event camera, a Visual-Inertial Sensor (VI-sensor), an inertial measurement unit (IMU), a LiDAR, a consumer-grade Global Navigation Satellite System (GNSS) receiver and a GNSS-IMU navigation system with real-time kinematic (RTK) signals. All those sensors were well-calibrated and synchronized, and their data were recorded simultaneously. The ground truth trajectories were obtained by the motion capture device, a laser 3D tracker, and an RTK receiver. The dataset comprises 36 sequences (about 1TB) captured in diverse scenarios including both indoor and outdoor environments. We evaluate state-of-the-art SLAM algorithms on M2DGR. Results show that existing solutions perform poorly in some scenarios. For the benefit of the research community, we make the dataset and tools public. The webpage of our project is https://github.com/SJTU-ViSYS/M2DGR.
Contextual Sentence Analysis for the Sentiment Prediction on Financial Data
Venue: arXiv cs.CL 2021
Year: 2021

Newsletters and social networks can reflect the opinion about the market and specific stocks from the perspective of analysts and the general public on products and/or services provided by a company. Therefore, sentiment analysis of these texts can provide useful information to help investors trade in the market. In this paper, a hierarchical stack of Transformers model is proposed to identify the sentiment associated with companies and stocks, by predicting a score (of data type real) in a range between -1 and +1. Specifically, we fine-tuned a RoBERTa model to process headlines and microblogs and combined it with additional Transformer layers to process the sentence analysis with sentiment dictionaries to improve the sentiment analysis. We evaluated it on financial data released by SemEval-2017 task 5 and our proposition outperformed the best systems of SemEval-2017 task 5 and strong baselines. Indeed, the combination of contextual sentence analysis with the financial and general sentiment dictionaries provided useful information to our model and allowed it to generate more reliable sentiment scores.
A Blockchain-based Data Governance Framework with Privacy Protection and Provenance for e-Prescription
Venue: arXiv cs.CR 2021
Year: 2021

Real-world applications in healthcare and supply chain domains produce, exchange, and share data in a multi-stakeholder environment. Data owners want to control their data and privacy in such settings. On the other hand, data consumers demand methods to understand when, how, and who produced the data. These requirements necessitate data governance frameworks that guarantee data provenance, privacy protection, and consent management. We introduce a decentralized data governance framework based on blockchain technology and proxy re-encryption to let data owners control and track their data through privacy-enhancing and consent management mechanisms. Besides, our framework allows the data consumers to understand data lineage through a blockchain-based provenance mechanism. We have used Digital e-prescription as the use case since it has multiple stakeholders and sensitive data while enabling the medical fraternity to manage patients' prescription data, involving patients as data owners, doctors and pharmacists as data consumers. Our proof-of-concept implementation and evaluation results based on CosmWasm, Ethereum, and pyUmbral PRE show that the proposed decentralized system guarantees transparency, privacy, and trust with minimal overhead.
Soft Robotic Finger with Variable Effective Length enabled by an Antagonistic Constraint Mechanism
Venue: arXiv cs.RO 2021
Year: 2021

Compared to traditional rigid robotics, soft robotics has attracted increasing attention due to its advantages as compliance, safety, and low cost. As an essential part of soft robotics, the soft robotic gripper also shows its superior while grasping the objects with irregular shapes. Recent research has been conducted to improve its grasping performance by adjusting the variable effective length (VEL). However, the VEL achieved by multi-chamber design or tunable stiffness shape memory material requires complex pneumatic circuit design or a time-consuming phase-changing process. This work proposes a fold-based soft robotic actuator made from 3D printed filament, NinjaFlex. It is experimentally tested and represented by the hyperelastic model. Mathematic and finite element modelling is conducted to study the bending behaviour of the proposed soft actuator. Besides, an antagonistic constraint mechanism is proposed to achieve the VEL, and the experiments demonstrate that better conformity is achieved. Finally, a two-mode gripper is designed and evaluated to demonstrate the advances of VEL on grasping performance.
Unsourced Random Massive Access with Beam-Space Tree Decoding
Venue: arXiv cs.IT 2021
Year: 2021

The core requirement of massive Machine-Type Communication (mMTC) is to support reliable and fast access for an enormous number of machine-type devices (MTDs). In many practical applications, the base station (BS) only concerns the list of received messages instead of the source information, introducing the emerging concept of unsourced random access (URA). Although some massive multiple-input multiple-output (MIMO) URA schemes have been proposed recently, the unique propagation properties of millimeter-wave (mmWave) massive MIMO systems are not fully exploited in conventional URA schemes. In grant-free random access, the BS cannot perform receive beamforming independently as the identities of active users are unknown to the BS. Therefore, only the intrinsic beam division property can be exploited to improve the decoding performance. In this paper, a URA scheme based on beam-space tree decoding is proposed for mmWave massive MIMO system. Specifically, two beam-space tree decoders are designed based on hard decision and soft decision, respectively, to utilize the beam division property. They both leverage the beam division property to assist in discriminating the sub-blocks transmitted from different users. Besides, the first decoder can reduce the searching space, enjoying a low complexity. The second decoder exploits the advantage of list decoding to recover the miss-detected packets. Simulation results verify the superiority of the proposed URA schemes compared to the conventional URA schemes in terms of error probability.
Monads for Measurable Queries in Probabilistic Databases
Venue: arXiv cs.PL 2021
Year: 2021

We consider a bag (multiset) monad on the category of standard Borel spaces, and show that it gives a free measurable commutative monoid. Firstly, we show that a recent measurability result for probabilistic database queries (Grohe and Lindner, ICDT 2020) follows quickly from the fact that queries can be expressed in monad-based terms. We also extend this measurability result to a fuller query language. Secondly, we discuss a distributive law between probability and bag monads, and we illustrate that this is useful for generating probabilistic databases.
From Semantics to Types: the Case of the Imperative lambda-Calculus
Venue: arXiv cs.PL 2021
Year: 2021

We propose an intersection type system for an imperative lambda-calculus based on a state monad and equipped with algebraic operations to read and write to the store. The system is derived by solving a suitable domain equation in the category of omega-algebraic lattices; the solution consists of a filter-model generalizing the well-known construction for ordinary lambda-calculus. Then the type system is obtained out of the term interpretations into the filter-model itself. The so obtained type system satisfies the "type-semantics" property, and it is sound and complete by construction.